ABSTRACT
The purpose of this paper was to investigate the effects of wearable lower limb exoskeletons on the kinematics and kinetic parameters of the lower extremity joints and muscles during normal walking, aiming to provide scientific basis for optimizing its structural design and improving its system performance. We collected the walking data of subjects without lower limb exoskeleton and selected the joint angles in sagittal plane of human lower limbs as driving data for lower limb exoskeleton simulation analysis. Anybody (the human biomechanical analysis software) was used to establish the human body model (the human body model without lower limb exoskeleton) and the man-machine system model (the lower limb exoskeleton model). The kinematics parameters (joint force and joint moment) and muscle parameters (muscle strength, muscle activation, muscle contraction velocity and muscle length) under two situations were compared. The experimental result shows that walking gait after wearing the lower limb exoskeleton meets the normal gait, but there would be an occasional and sudden increase in muscle strength. The max activation level of main lower limb muscles were all not exceeding 1, in another word the muscles did not appear fatigue and injury. The highest increase activation level occurred in rectus femoris (0.456), and the lowest increase activation level occurred in semitendinosus (0.013), which means the lower limb exoskeletons could lead to the fatigue and injury of semitendinosus. The results of this study illustrate that to avoid the phenomenon of sudden increase of individual muscle force, the consistency between the length of body segment and the length of exoskeleton rod should be considered in the design of lower limb exoskeleton extremity.
Subject(s)
Humans , Biomechanical Phenomena , Exoskeleton Device , Gait , Lower Extremity , PhysiologyABSTRACT
Objective To explore the plantar pressure and surface electromyography (sEMG) parameters during human stair walking, so as to provide theoretical support for foot structure design of dynamic walker, selection of power element and distribution of installation location. Methods Ten healthy young males were recruited to perform stair walking trials, respectively. The motion capture system, plantar pressure system and surface myoelectricity acquisition system were used to collect plantar peak pressure, trajectory of COP(center of pressure) and sEMG parameters of lower limb muscles at the same time. Results Compared with level walking, the percentage of stance time in the whole gait cycle increased during stair walking. The peak pressure of forefoot area increased during stair ascent, while the peak pressure of toe area decreased during stair descent. During stair walking, rectus femoris, biceps femoris, medialis and lateralis gastrocnemius played a main role in maintaining the stability of human body. Conclusions The plantar pressure distribution should be fully considered for foot structure design of dynamic walker and the function of main muscles should be considered for selection of power element and distribution of installation location.